Question: 6. Consider two calibrated cameras P = K [I|0] P' = K' [Rt] [20 marks] (a) Show that the fundamental matrix between them is

6. Consider two calibrated cameras P = K [I|0] P' = K'

6. Consider two calibrated cameras P = K [I|0] P' = K' [R\t] [20 marks] (a) Show that the fundamental matrix between them is given by F = K'-T [t]x K'-TEK-1 RK-1 (b) Show that the essential matrix is of rank 2 and suggest a method for factorising the essential matrix E = [t] R ==

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